PERMODELAN KINEMATIK PADA MOBILE ROBOT LEADER-FOLLOWER BERPENGGERAK DIFERENTIAL NON-NOLONOMIK DENGAN MENGGUNAKAN PENGENDALI LOGIKA FUZZY

GINTING, KRISTIAWATI BR and Nurmaini, Siti (2019) PERMODELAN KINEMATIK PADA MOBILE ROBOT LEADER-FOLLOWER BERPENGGERAK DIFERENTIAL NON-NOLONOMIK DENGAN MENGGUNAKAN PENGENDALI LOGIKA FUZZY. Undergraduate thesis, Sriwijaya University.

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Abstract

Differential Drive Mobile Robot Leader-Follower (DDMR) merupakan salah satu mobile robot berpenggerak differensial dengan menggunakan dua buah roda penggerak. Berpindahnya posisi atau keadaan suatu Mobile Robot dari posisi awal ke posisi tujuan akan terjadi kesalahan atau error. Dalam pergerakan menuju ke posisi awal tujuan, diperlukan hukum kendali yang bisa membuat arah pergerakan mobile robot dari posisi awal ke posisi tujuan mendapatkan nilai error yang kecil. Untuk mendapatkan nilai error yang kecil maka digunakan sistem kendali logika fuzzy untuk mengendalikan torsi pada mobile robot. Rentang nilai linguistik yang digunakan -1 sampai 1 sebagai masukan dan rentang nilai linguistik 0 sampai 6 sebagai keluaran. Hasil pengujian dengan rata-rata error posisi terkecil selama 50s, error posisi x sebesar -2,66697x〖10〗^1, nilai rata-rata error posisi y sebesar 0, nilai rata-rata error posisi θ sebesar 1,5952x〖10〗^(-1), nilai rata-rata delta error posisi x sebesar -1,08427, nilai rata-rata delta error posisi y sebesar 0, dan nilai rata-rata delta error posisi θ sebesar -6,1x〖10〗^(-3) dalam waktu tempuh 50s.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Model Kinematik, Mobile Robot Leader-Follower, Logika Fuzzy, Sistem Kendali
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA168 Systems engineering
T Technology > TA Engineering (General). Civil engineering (General) > TA170-171 Environmental engineering
T Technology > TA Engineering (General). Civil engineering (General) > TA174.A385 Engineering design--Data processing. Manufacturing processes--Data processing. Computer integrated manufacturing systems. Manufacturing processes--Automation. CAD/CAM systems.
Divisions: 09-Faculty of Computer Science > 56201-Computer Systems (S1)
Depositing User: kristiawati Br Ginting
Date Deposited: 25 Sep 2019 07:04
Last Modified: 25 Sep 2019 07:04
URI: http://repository.unsri.ac.id/id/eprint/8866

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